When a car accident happened on a highway, the accident vehicle should broadcast a safe message to its neighbors in order to prevent a chain-reaction collision. Also, there is a problem that the estimation accuracy is low because of the memory limit from increasing the sampling count. In this paper, we proposes a HVC systems using a back-off algorithm applied to a gaussian model. And we proposes a MAC protocol preventing the communication delay by separating the neighbor count collection channel, data channel, and RSU communication channel. As a result, we show the frame reception success rate of our protocol improved about 10% than the previous protocol.